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Signal Flow Graph

Signal flow graphs (SFGs) can be used to represent systems of simultaneous linear algebraic equations arising from linear differential equations. SFGs represent variables as nodes, relationships between variables as branches, and transfer functions as transmittances along branches. Key concepts include forward and loop paths, gains, and Mason's gain formula which can be used to find the overall transmittance between input and output nodes of an SFG. Examples are provided to demonstrate how to analyze SFGs by identifying paths, loops, and applying Mason's formula.

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Signal Flow Graph

Signal flow graphs (SFGs) can be used to represent systems of simultaneous linear algebraic equations arising from linear differential equations. SFGs represent variables as nodes, relationships between variables as branches, and transfer functions as transmittances along branches. Key concepts include forward and loop paths, gains, and Mason's gain formula which can be used to find the overall transmittance between input and output nodes of an SFG. Examples are provided to demonstrate how to analyze SFGs by identifying paths, loops, and applying Mason's formula.

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© © All Rights Reserved
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Signal Flow Graph (SFG)

It is used to represent graphically a set of simultaneously


linear algebraic equations. After transforming linear differential
equations into algebraic equations in complex variable s, the
signal flow graph method may be employed for analysis of
control systems (Mandal, 2006).

Basic Properties of Signal Flow Graph


1. A signal flow graph applies only to linear systems.
2. A signal flow graph is based on algebraic equation in the
form of effect as a function of cause.
3. In a signal flow graph, the variables are represented by
points called (nodes), which they are normally arranged
from left to right following a succession of causes and
effects through the system.
4. The transfer function is represented by a line called a
(branch) and is termed as a (transmittance) or (gain).
5. The forward path transfer function is termed as a (forward
path transmittance) or a (forward path gain).
6. The loop path transfer function is termed as (loop
transmittance) or (loop gain).
7. The signal travels along the branch in the direction of an
arrow.
8. The branch directing from node x to node y represents the
dependence of the variable y upon the variable x but not
reverse.

Terminologies

Node: is a point representing a variable or signal.


Input node: is a node that has only outgoing branches.
Output node: is a node that has only incoming branches.

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Mixed node: is a node which has both incoming and outgoing
branches.
Branch: is a directed line that joining two nodes.
Transmittance: is the transfer function relating two variables
on the branch.
Path: is a collection of continuous succession of branches
traversed in the same direction.
Forward Path: is a path that starts at an input and ends at an
output node and along which no node is traversed more than
once.
Forward Path Gain: is the product of the branches
transmittance of the forward path.
Loop: is a path that originates and terminates on the same node
and along which no node is traversed more than once.
Nontouching loops: are loops that have no nodes in common.
Self loop: is a loop that consisting of a single branch.
Loop Gain: is the product of branches transmittances of the

loop.

Illustration
Consider the control system represented by the following
block diagram.

Figure 23. Block Diagram.

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The signal flow graph for this system is shown below:

Figure 24. Signal Flow Graph


Where,
R: is the input node.
C: is the output node.
𝑛1 , 𝑛2 , and 𝑛3 : are called mixed nodes.
This system has two forward paths, which are:
𝑃1 = 𝐺1 𝐺3 𝐺4
𝑃2 = 𝐺2 𝐺3 𝐺4
Furthermore, it has four loops, which are:
𝐿1 = -𝐺1 𝐻1
𝐿2 = -𝐺4 𝐻2
𝐿3 = -𝐺1 𝐺3 𝐺4 𝐻3
𝐿4 = -𝐺2 𝐺3 𝐺4 𝐻3
𝐶
The ratio is the overall transmittance or gain of the system.
𝑅

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Signal Flow Graph Algebra

Table 4. Signal Flow Graph and Its Simplifications


Signal Flow Graph Its Simplification

y = 𝑎1 𝑥1 + 𝑎2 𝑥2 +𝑎3 𝑥3

𝑦1 =𝑏1 𝑦
𝑦2 =𝑏2 𝑦
𝑦3 =𝑏3 𝑦

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Mason’s Gain Formula

It can be applied only between input and output nodes.


𝑛
𝑃𝑘 ∆𝑘
𝑇=∑
∆
𝑘=1
T: is overall transmittance between input and output nodes.
n: is the total number of forward paths.
𝑃𝑘 : is the gain of the 𝑘 𝑡ℎ forward path.
∆: is the determinant of signal flow graph.
∆ = 1- (sum of all individual loop gains) + (sum of gain products
of all possible combinations of two nontouching loops)-( sum of
gain products of all possible combinations of three non-touching
loops) + ……

∆𝑘 : is the path cofactor


all loops touching 𝑃𝑘 are eliminated.
𝑛
𝑃𝑘 ∆𝑘 𝑃1 ∆1 + 𝑃2 ∆2 +⋯+ 𝑃𝑛 ∆𝑛
𝑇=∑ =
𝑘=1 ∆ ∆

Note:
To solve any SFG problems, several steps should be followed:
1. Find Paths.
2. Find loops.
3. Find non-touching loops if they are available.
4. Apply Mason’s Gain Formula.

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Example1
For the signal flow graph shown below, determine the overall
system transmittance.

Solution
The forward Paths of this systems are:
𝑃1 = 𝐺1 𝐺2 𝐺3
𝑃2 = 𝐺4
The loops of this system are:
𝐿1 = -𝐺2 𝐻1
𝐿2 = -𝐺1 𝐺2 𝐻2
𝐿3 = -𝐺2 𝐺3 𝐻3
∆ = 1- (𝐿1 + 𝐿2 + 𝐿3 ) = 1- (-𝐺2 𝐻1 -𝐺1 𝐺2 𝐻2 -𝐺2 𝐺3 𝐻3 )
= 1+𝐺2 𝐻1 + 𝐺1 𝐺2 𝐻2 + 𝐺2 𝐺3 𝐻3
∵ all the three loops are touching 𝑃1
∴ ∆1 =1
However, the loops 𝐿1 , 𝐿2 , and 𝐿3 are not touching 𝑃2 , so
∆2 = 1- (𝐿1 + 𝐿2 + 𝐿3 ) = 1- (-𝐺2 𝐻1 -𝐺1 𝐺2 𝐻2 -𝐺2 𝐺3 𝐻3 )
= 1+𝐺2 𝐻1 + 𝐺1 𝐺2 𝐻2 + 𝐺2 𝐺3 𝐻3
𝑃1 ∆1 + 𝑃2 ∆2 𝐶 𝐺1 𝐺2 𝐺3 + 𝐺4 (1+𝐺2 𝐻1 + 𝐺1 𝐺2 𝐻2 + 𝐺2 𝐺3 𝐻3 )
T= = =
∆ 𝑅 1+𝐺2 𝐻1 + 𝐺1 𝐺2 𝐻2 + 𝐺2 𝐺3 𝐻3

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Example2
For the Block Diagram shown below,
a) Find the overall transfer function.
b) Represent it in Signal Flow Graph.

Solution
a)

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𝑦 𝐺2 (1+𝐺3 𝐻2 )+𝐺1 𝐺3
∴ T.F = =
𝑅 (1+𝐺1 𝐻1 )(1+𝐺3 𝐻2 )

b)

𝑃1 = 𝐺1 𝐺3
𝑃2 = 𝐺2
𝐿1 = -𝐺1 𝐻1
𝐿2 = -𝐺3 𝐻2
𝐿1 𝐿2 = 𝐺1 𝐺3 𝐻2 𝐻1
Δ = 1-(𝐿1 + 𝐿2 ) +(𝐿1 𝐿2 ) = 1- (-𝐺1 𝐻1 -𝐺3 𝐻2 ) +𝐺1 𝐺3 𝐻2 𝐻1
= 1 +𝐺1 𝐻1 +𝐺3 𝐻2 + 𝐺1 𝐺3 𝐻2 𝐻1
Δ1 = 1
Δ2 = 1-(-𝐺3 𝐻2 )

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Δ2 = 1 + 𝐺3 𝐻2
𝑃1 Δ1 +𝑃2 Δ2 𝐺1 𝐺3 (1)+𝐺2 (1 + 𝐺3 𝐻2 )
T= =
Δ 1 +𝐺1 𝐻1 +𝐺3 𝐻2 + 𝐺1 𝐺3 𝐻2 𝐻1
𝐺1 𝐺3 +𝐺2 (1 + 𝐺3 𝐻2 )
∴T=
(1 +𝐺1 𝐻1 ) (1+𝐺3 𝐻2 )

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